Robust Homography Estimation Based on Nonlinear Least Squares Optimization
Figure 2
Distribution of which represents the contribution of each matching to the optimization problem. Also, it is an indicator of outliers as we classify as outlier if . Without loss of generality, inliers are put in the first 42 indexes. (a) Test with 206 outliers in which 1 false inlier appeared. (b) Test with 309 outliers in which 1 false inlier appeared.
